Manipulator arms like ERA or the Shuttle Remote Manipulator System (SRMS) are typically designed for moving masses which are small compared with the base of the arm, i.e. HERMES or the Shuttle. When using such arms for berthing with large payloads (which have masses and inertias of about the same order of magnitude as the base of the robot arm), the kinematic and dynamic couplings and the large changes of the matrix of inertia of the composite demands for a more complex control law. The paper describes the design of multi-input/multi-output (MIMO) control laws which treats the composite, i.e. chaser, target and arm, as one plant. The equation of motion of this plant is not only coupled but also includes non-linear terms (via centrifugal forces). The aim was to design a control law which is sufficiently robust against the large parameter variations and can therefore work without a gain scheduling scheme. The paper also describes the modelling of the chaser, target and arm motion in the XMATH/Systembuild environment and presents one example of the simulation results for the berthing of HERMES/EURECA.
Controller design for RVB with a HERA type manipulator
Entwicklung eines Reglers für RVB-Anwendung an einem Greiferarm des Typ HERA
1997
8 Seiten, 14 Bilder, 6 Quellen
Aufsatz (Konferenz)
Englisch
Controller Design for RVB with a HERA-Type Manipulator
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